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Share-Based Compensation Expense - Schedule of stock option award activity (Details) - $ / shares
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2021
Shares      
Outstanding, beginning balance (in shares) 761,408 761,408  
Granted (in shares)   0 5,435
Exercised (in shares)   (489,436) (333,102)
Cancelled or forfeited (in shares)   (78,816) (128,086)
Outstanding, ending balance (in shares)   193,156 1,217,161
Exercisable (in shares)   191,635  
Weighted Average Exercise Price      
Outstanding, beginning balance (in usd per share) $ 11.12 $ 11.12  
Granted (in usd per share)   0 $ 15.60
Exercised (in usd per share)   1.94 1.92
Cancelled or forfeited (in usd per share)   51.48 35.36
Outstanding, ending balance (in usd per share)   17.89 $ 11.20
Exercisable (in usd per share)   $ 17.50  
Weighted Average Remaining Contractual Term      
Outstanding at December 31, 2022 2 years 8 months 12 days 5 years 9 months 18 days 7 years 2 months 12 days
Exercisable at December 31, 2023   5 years 9 months 18 days